#include <fwd.hpp>

Inheritance diagram for pinocchio::MotionTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options }

Public Types inherited from pinocchio::MotionDense< MotionTpl< _Scalar, _Options > >
typedef MotionBase< MotionTpl< _Scalar, _Options > >	Base

typedef traits< MotionTpl< _Scalar, _Options > >::MotionRefType	MotionRefType

Public Member Functions
template<int O2>
MotionTpl &	__mequ__ (const MotionTpl< Scalar, O2 > &v)

template<typename Vector6ArgType >
MotionTpl &	__mequ__ (const MotionRef< Vector6ArgType > &v)

template<int O2>
MotionPlain	__minus__ (const MotionTpl< Scalar, O2 > &v) const

template<typename Vector6ArgType >
MotionPlain	__minus__ (const MotionRef< Vector6ArgType > &v) const

template<typename OtherScalar >
MotionPlain	__mult__ (const OtherScalar &alpha) const

template<int O2>
MotionTpl &	__pequ__ (const MotionTpl< Scalar, O2 > &v)

template<typename Vector6ArgType >
MotionTpl &	__pequ__ (const MotionRef< Vector6ArgType > &v)

template<int O2>
MotionPlain	__plus__ (const MotionTpl< Scalar, O2 > &v) const

template<typename Vector6ArgType >
MotionPlain	__plus__ (const MotionRef< Vector6ArgType > &v) const

ConstAngularType	angular_impl () const

AngularType	angular_impl ()

template<typename V3 >
void	angular_impl (const Eigen::MatrixBase< V3 > &w)

template<typename NewScalar >
MotionTpl< NewScalar, Options >	cast () const

ConstLinearType	linear_impl () const

LinearType	linear_impl ()

template<typename V3 >
void	linear_impl (const Eigen::MatrixBase< V3 > &v)

	MOTION_TYPEDEF_TPL (MotionTpl)

	MotionTpl ()

template<typename V1 , typename V2 >
	MotionTpl (const Eigen::MatrixBase< V1 > &v, const Eigen::MatrixBase< V2 > &w)

template<typename V6 >
	MotionTpl (const Eigen::MatrixBase< V6 > &v)

template<int O2>
	MotionTpl (const MotionTpl< Scalar, O2 > &clone)

template<typename M2 >
	MotionTpl (const MotionDense< M2 > &clone)

template<typename M2 >
	MotionTpl (const MotionBase< M2 > &clone)

PlainReturnType	plain () const

MotionRef< Vector6 >	ref ()

ToVectorConstReturnType	toVector_impl () const

ToVectorReturnType	toVector_impl ()

Public Member Functions inherited from pinocchio::MotionDense< MotionTpl< _Scalar, _Options > >
MotionPlain	__div__ (const OtherScalar &alpha) const

MotionTpl< _Scalar, _Options > &	__mequ__ (const MotionDense< M1 > &v)

MotionPlain	__minus__ (const MotionDense< M1 > &v) const

MotionPlain	__mult__ (const OtherScalar &alpha) const

MotionPlain	__opposite__ () const

MotionTpl< _Scalar, _Options > &	__pequ__ (const MotionDense< M1 > &v)

MotionPlain	__plus__ (const MotionDense< M1 > &v) const

MotionAlgebraAction< D, MotionTpl< _Scalar, _Options > >::ReturnType	cross_impl (const D &d) const

void	disp_impl (std::ostream &os) const

Scalar	dot (const ForceBase< F1 > &phi) const

bool	isApprox (const MotionDense< M2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isApprox_impl (const MotionDense< D2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isEqual_impl (const MotionDense< D2 > &other) const

bool	isEqual_impl (const MotionBase< D2 > &other) const

bool	isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

	MOTION_TYPEDEF_TPL (MotionTpl< _Scalar, _Options >)

void	motionAction (const MotionDense< M1 > &v, MotionDense< M2 > &mout) const

MotionPlain	motionAction (const MotionDense< M1 > &v) const

MotionPlain	operator+ (const MotionDense< M1 > &v) const

MotionTpl< _Scalar, _Options > &	operator+= (const MotionDense< M1 > &v)

MotionTpl< _Scalar, _Options > &	operator+= (const MotionBase< M1 > &v)

MotionPlain	operator- () const

MotionPlain	operator- (const MotionDense< M1 > &v) const

MotionTpl< _Scalar, _Options > &	operator-= (const MotionDense< M1 > &v)

MotionTpl< _Scalar, _Options > &	operator= (const MotionDense< D2 > &other)

MotionTpl< _Scalar, _Options > &	operator= (const MotionBase< D2 > &other)

MotionTpl< _Scalar, _Options > &	operator= (const Eigen::MatrixBase< V6 > &v)

MotionRefType	ref ()

void	se3Action_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const

SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3Action_impl (const SE3Tpl< S2, O2 > &m) const

void	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const

SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const

MotionTpl< _Scalar, _Options > &	setRandom ()

MotionTpl< _Scalar, _Options > &	setZero ()

ActionMatrixType	toActionMatrix_impl () const

ActionMatrixType	toDualActionMatrix_impl () const

HomogeneousMatrixType	toHomogeneousMatrix_impl () const

Public Member Functions inherited from pinocchio::MotionBase< MotionTpl< _Scalar, _Options > >
ConstAngularType	angular () const

AngularType	angular ()

void	angular (const Eigen::MatrixBase< V3Like > &w)

MotionAlgebraAction< OtherSpatialType, MotionTpl< _Scalar, _Options > >::ReturnType	cross (const OtherSpatialType &d) const

MotionTpl< _Scalar, _Options > &	derived ()

const MotionTpl< _Scalar, _Options > &	derived () const

void	disp (std::ostream &os) const

Scalar	dot (const ForceDense< ForceDerived > &f) const

bool	isApprox (const MotionTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

ConstLinearType	linear () const

LinearType	linear ()

void	linear (const Eigen::MatrixBase< V3Like > &v)

	MOTION_TYPEDEF_TPL (MotionTpl< _Scalar, _Options >)

	operator Matrix6 () const

	operator PlainReturnType () const

	operator Vector6 () const

bool	operator!= (const MotionBase< M2 > &other) const

internal::RHSScalarMultiplication< MotionTpl< _Scalar, _Options >, OtherScalar >::ReturnType	operator* (const OtherScalar &alpha) const

MotionTpl< _Scalar, _Options >	operator+ (const MotionBase< MotionTpl< _Scalar, _Options > > &v) const

MotionTpl< _Scalar, _Options > &	operator+= (const MotionBase< MotionTpl< _Scalar, _Options > > &v)

MotionTpl< _Scalar, _Options >	operator- () const

MotionTpl< _Scalar, _Options >	operator- (const MotionBase< MotionTpl< _Scalar, _Options > > &v) const

MotionTpl< _Scalar, _Options > &	operator-= (const MotionBase< MotionTpl< _Scalar, _Options > > &v)

MotionTpl< _Scalar, _Options >	operator/ (const OtherScalar &alpha) const

bool	operator== (const MotionBase< M2 > &other) const

PlainReturnType	plain () const

SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const

SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const

void	setZero ()

ActionMatrixType	toActionMatrix () const

ActionMatrixType	toDualActionMatrix () const

HomogeneousMatrixType	toHomogeneousMatrix () const
	The homogeneous representation of the motion vector $\xi$ . More...

ToVectorConstReturnType	toVector () const

ToVectorReturnType	toVector ()

Static Public Member Functions
static MotionTpl	Random ()

static MotionTpl	Zero ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef MotionDense< MotionTpl >	Base

Protected Attributes
Vector6	m_data

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::MotionTpl< _Scalar, _Options >

Definition at line 43 of file src/spatial/fwd.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Enumerator
Options

Definition at line 45 of file motion-tpl.hpp.

Constructor & Destructor Documentation

◆ MotionTpl() [1/6]

template<typename _Scalar, int _Options>

pinocchio::MotionTpl< _Scalar, _Options >::MotionTpl ( )

inline

Definition at line 59 of file motion-tpl.hpp.

◆ MotionTpl() [2/6]

template<typename _Scalar, int _Options>

template<typename V1 , typename V2 >

pinocchio::MotionTpl< _Scalar, _Options >::MotionTpl	(	const Eigen::MatrixBase< V1 > &	v,
		const Eigen::MatrixBase< V2 > &	w
	)

inline

Definition at line 62 of file motion-tpl.hpp.

◆ MotionTpl() [3/6]

template<typename _Scalar, int _Options>

template<typename V6 >

pinocchio::MotionTpl< _Scalar, _Options >::MotionTpl ( const Eigen::MatrixBase< V6 > & v )

inlineexplicit

Definition at line 70 of file motion-tpl.hpp.

◆ MotionTpl() [4/6]

template<typename _Scalar, int _Options>

template<int O2>

pinocchio::MotionTpl< _Scalar, _Options >::MotionTpl ( const MotionTpl< Scalar, O2 > & clone )

inlineexplicit

Definition at line 78 of file motion-tpl.hpp.

◆ MotionTpl() [5/6]

template<typename _Scalar, int _Options>

template<typename M2 >

pinocchio::MotionTpl< _Scalar, _Options >::MotionTpl ( const MotionDense< M2 > & clone )

inlineexplicit

Definition at line 83 of file motion-tpl.hpp.

◆ MotionTpl() [6/6]

template<typename _Scalar, int _Options>

template<typename M2 >

pinocchio::MotionTpl< _Scalar, _Options >::MotionTpl ( const MotionBase< M2 > & clone )

inlineexplicit

Definition at line 87 of file motion-tpl.hpp.

Member Function Documentation

◆ mequ() [1/2]

template<typename _Scalar, int _Options>

template<int O2>

MotionTpl& pinocchio::MotionTpl< _Scalar, _Options >::__mequ__ ( const MotionTpl< Scalar, O2 > & v )

inline

Definition at line 144 of file motion-tpl.hpp.

◆ mequ() [2/2]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType >

MotionTpl& pinocchio::MotionTpl< _Scalar, _Options >::__mequ__ ( const MotionRef< Vector6ArgType > & v )

inline

Definition at line 148 of file motion-tpl.hpp.

◆ minus() [1/2]

template<typename _Scalar, int _Options>

template<int O2>

MotionPlain pinocchio::MotionTpl< _Scalar, _Options >::__minus__ ( const MotionTpl< Scalar, O2 > & v ) const

inline

Definition at line 128 of file motion-tpl.hpp.

◆ minus() [2/2]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType >

MotionPlain pinocchio::MotionTpl< _Scalar, _Options >::__minus__ ( const MotionRef< Vector6ArgType > & v ) const

inline

Definition at line 132 of file motion-tpl.hpp.

◆ mult()

template<typename _Scalar, int _Options>

template<typename OtherScalar >

MotionPlain pinocchio::MotionTpl< _Scalar, _Options >::__mult__ ( const OtherScalar & alpha ) const

inline

Definition at line 152 of file motion-tpl.hpp.

◆ pequ() [1/2]

template<typename _Scalar, int _Options>

template<int O2>

MotionTpl& pinocchio::MotionTpl< _Scalar, _Options >::__pequ__ ( const MotionTpl< Scalar, O2 > & v )

inline

Definition at line 136 of file motion-tpl.hpp.

◆ pequ() [2/2]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType >

MotionTpl& pinocchio::MotionTpl< _Scalar, _Options >::__pequ__ ( const MotionRef< Vector6ArgType > & v )

inline

Definition at line 140 of file motion-tpl.hpp.

◆ plus() [1/2]

template<typename _Scalar, int _Options>

template<int O2>

MotionPlain pinocchio::MotionTpl< _Scalar, _Options >::__plus__ ( const MotionTpl< Scalar, O2 > & v ) const

inline

Definition at line 120 of file motion-tpl.hpp.

◆ plus() [2/2]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType >

MotionPlain pinocchio::MotionTpl< _Scalar, _Options >::__plus__ ( const MotionRef< Vector6ArgType > & v ) const

inline

Definition at line 124 of file motion-tpl.hpp.

◆ angular_impl() [1/3]

template<typename _Scalar, int _Options>

ConstAngularType pinocchio::MotionTpl< _Scalar, _Options >::angular_impl ( ) const

inline

Definition at line 100 of file motion-tpl.hpp.

◆ angular_impl() [2/3]

template<typename _Scalar, int _Options>

AngularType pinocchio::MotionTpl< _Scalar, _Options >::angular_impl ( )

inline

Definition at line 102 of file motion-tpl.hpp.

◆ angular_impl() [3/3]

template<typename _Scalar, int _Options>

template<typename V3 >

void pinocchio::MotionTpl< _Scalar, _Options >::angular_impl ( const Eigen::MatrixBase< V3 > & w )

inline

Definition at line 106 of file motion-tpl.hpp.

◆ cast()

template<typename _Scalar, int _Options>

template<typename NewScalar >

MotionTpl<NewScalar,Options> pinocchio::MotionTpl< _Scalar, _Options >::cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 159 of file motion-tpl.hpp.

◆ linear_impl() [1/3]

template<typename _Scalar, int _Options>

ConstLinearType pinocchio::MotionTpl< _Scalar, _Options >::linear_impl ( ) const

inline

Definition at line 101 of file motion-tpl.hpp.

◆ linear_impl() [2/3]

template<typename _Scalar, int _Options>

LinearType pinocchio::MotionTpl< _Scalar, _Options >::linear_impl ( )

inline

Definition at line 103 of file motion-tpl.hpp.

◆ linear_impl() [3/3]

template<typename _Scalar, int _Options>

template<typename V3 >

void pinocchio::MotionTpl< _Scalar, _Options >::linear_impl ( const Eigen::MatrixBase< V3 > & v )

inline

Definition at line 112 of file motion-tpl.hpp.

◆ MOTION_TYPEDEF_TPL()

template<typename _Scalar, int _Options>

pinocchio::MotionTpl< _Scalar, _Options >::MOTION_TYPEDEF_TPL ( MotionTpl< _Scalar, _Options > )

◆ plain()

template<typename _Scalar, int _Options>

PlainReturnType pinocchio::MotionTpl< _Scalar, _Options >::plain ( ) const

inline

Definition at line 94 of file motion-tpl.hpp.

◆ Random()

template<typename _Scalar, int _Options>

static MotionTpl pinocchio::MotionTpl< _Scalar, _Options >::Random ( )

inlinestatic

Definition at line 92 of file motion-tpl.hpp.

◆ ref()

template<typename _Scalar, int _Options>

MotionRef<Vector6> pinocchio::MotionTpl< _Scalar, _Options >::ref ( )

inline

Definition at line 155 of file motion-tpl.hpp.

◆ toVector_impl() [1/2]

template<typename _Scalar, int _Options>

ToVectorConstReturnType pinocchio::MotionTpl< _Scalar, _Options >::toVector_impl ( ) const

inline

Definition at line 96 of file motion-tpl.hpp.

◆ toVector_impl() [2/2]

template<typename _Scalar, int _Options>

ToVectorReturnType pinocchio::MotionTpl< _Scalar, _Options >::toVector_impl ( )

inline

Definition at line 97 of file motion-tpl.hpp.

◆ Zero()

template<typename _Scalar, int _Options>

static MotionTpl pinocchio::MotionTpl< _Scalar, _Options >::Zero ( )

inlinestatic

Definition at line 91 of file motion-tpl.hpp.

Member Data Documentation

◆ Base

template<typename _Scalar, int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef MotionDense<MotionTpl> pinocchio::MotionTpl< _Scalar, _Options >::Base

Definition at line 43 of file motion-tpl.hpp.

◆ m_data

template<typename _Scalar, int _Options>

Vector6 pinocchio::MotionTpl< _Scalar, _Options >::m_data

protected

Definition at line 168 of file motion-tpl.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename _Scalar, int _Options> class pinocchio::MotionTpl< _Scalar, _Options >

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ MotionTpl() [1/6]

◆ MotionTpl() [2/6]

◆ MotionTpl() [3/6]

◆ MotionTpl() [4/6]

◆ MotionTpl() [5/6]

◆ MotionTpl() [6/6]

Member Function Documentation

◆ __mequ__() [1/2]

◆ __mequ__() [2/2]

◆ __minus__() [1/2]

◆ __minus__() [2/2]

◆ __mult__()

◆ __pequ__() [1/2]

◆ __pequ__() [2/2]

◆ __plus__() [1/2]

◆ __plus__() [2/2]

◆ angular_impl() [1/3]

◆ angular_impl() [2/3]

◆ angular_impl() [3/3]

◆ cast()

◆ linear_impl() [1/3]

◆ linear_impl() [2/3]

◆ linear_impl() [3/3]

◆ MOTION_TYPEDEF_TPL()

◆ plain()

◆ Random()

◆ ref()

◆ toVector_impl() [1/2]

◆ toVector_impl() [2/2]

◆ Zero()

Member Data Documentation

◆ Base

◆ m_data

template<typename _Scalar, int _Options>
class pinocchio::MotionTpl< _Scalar, _Options >

◆ mequ() [1/2]

◆ mequ() [2/2]

◆ minus() [1/2]

◆ minus() [2/2]

◆ mult()

◆ pequ() [1/2]

◆ pequ() [2/2]

◆ plus() [1/2]

◆ plus() [2/2]